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<div class="title">sac_model_normal_parallel_plane.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_normal_plane.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/model_types.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt;</div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html">   84</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html">SampleConsensusModelNormalParallelPlane</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_sample_consensus_model_normal_plane.html">SampleConsensusModelNormalPlane</a>&lt;PointT, PointNT&gt;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::model_name_</a>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html">SampleConsensusModelFromNormals&lt;PointT, PointNT&gt;::normals_</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html">SampleConsensusModelFromNormals&lt;PointT, PointNT&gt;::normal_distance_weight_</a>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::error_sqr_dists_</a>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">SampleConsensusModel&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;PointT&gt;::PointCloudPtr PointCloudPtr;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;PointT&gt;::PointCloudConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModelFromNormals&lt;PointT, PointNT&gt;::PointCloudNPtr PointCloudNPtr;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModelFromNormals&lt;PointT, PointNT&gt;::PointCloudNConstPtr PointCloudNConstPtr;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;SampleConsensusModelNormalParallelPlane&gt; Ptr;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a1a380854465d245c09fe449c7a776a24">  107</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a1a380854465d245c09fe449c7a776a24">SampleConsensusModelNormalParallelPlane</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud,</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                                               <span class="keywordtype">bool</span> random = <span class="keyword">false</span>) </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        : <a class="code" href="classpcl_1_1_sample_consensus_model_normal_plane.html">SampleConsensusModelNormalPlane</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT&gt; (cloud, random)</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a71cde334afb34175627bd2e8099377f4">axis_</a> (Eigen::Vector4f::Zero ())</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aea3e40783084111de43e393b05b3c571">distance_from_origin_</a> (0)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a51507054bfcec905fc93de25c0392db2">eps_angle_</a> (-1.0)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aa259a6a04d35b74090a20f4a918c040d">cos_angle_</a> (-1.0)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a277a362585ed9009e06521f81ab77c4e">eps_dist_</a> (0.0)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a> = <span class="stringliteral">&quot;SampleConsensusModelNormalParallelPlane&quot;</span>;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">sample_size_</a> = 3;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">model_size_</a> = 4;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#ab92d881d09ec9cb96fa9658a3540a585">  126</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#ab92d881d09ec9cb96fa9658a3540a585">SampleConsensusModelNormalParallelPlane</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud, </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;                                               <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;                                               <span class="keywordtype">bool</span> random = <span class="keyword">false</span>) </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        : <a class="code" href="classpcl_1_1_sample_consensus_model_normal_plane.html">SampleConsensusModelNormalPlane</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT&gt; (cloud, indices, random)</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a71cde334afb34175627bd2e8099377f4">axis_</a> (Eigen::Vector4f::Zero ())</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aea3e40783084111de43e393b05b3c571">distance_from_origin_</a> (0)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a51507054bfcec905fc93de25c0392db2">eps_angle_</a> (-1.0)</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aa259a6a04d35b74090a20f4a918c040d">cos_angle_</a> (-1.0)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a277a362585ed9009e06521f81ab77c4e">eps_dist_</a> (0.0)</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a> = <span class="stringliteral">&quot;SampleConsensusModelNormalParallelPlane&quot;</span>;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">sample_size_</a> = 3;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">model_size_</a> = 4;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      </div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a7cd724a6cc535ed16141ddd502967332">  142</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a7cd724a6cc535ed16141ddd502967332">~SampleConsensusModelNormalParallelPlane</a> () {}</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#ae938d8d5fc0c9dcafd55cbc1f39d480a">  148</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#ae938d8d5fc0c9dcafd55cbc1f39d480a">setAxis</a> (<span class="keyword">const</span> Eigen::Vector3f &amp;ax) { <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a71cde334afb34175627bd2e8099377f4">axis_</a>.head&lt;3&gt; () = ax; <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a71cde334afb34175627bd2e8099377f4">axis_</a>.normalize ();}</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3f</div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a3f475da49431d9fc920ade9a023392b7">  152</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a3f475da49431d9fc920ade9a023392b7">getAxis</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a71cde334afb34175627bd2e8099377f4">axis_</a>.head&lt;3&gt; ()); }</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#acaaf6b902abb758b4d62d76846f77075">  159</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#acaaf6b902abb758b4d62d76846f77075">setEpsAngle</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> ea) { <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a51507054bfcec905fc93de25c0392db2">eps_angle_</a> = ea; <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aa259a6a04d35b74090a20f4a918c040d">cos_angle_</a> = fabs (cos (ea));}</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#ad05b86f6d1590e555b7da88bfcce5581">  163</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#ad05b86f6d1590e555b7da88bfcce5581">getEpsAngle</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a51507054bfcec905fc93de25c0392db2">eps_angle_</a>); }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a6a3870bce36a1018cc73ff5cde6719b6">  169</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a6a3870bce36a1018cc73ff5cde6719b6">setDistanceFromOrigin</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> d) { <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aea3e40783084111de43e393b05b3c571">distance_from_origin_</a> = d; }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a093e8dad08a893c76a2657c2c2c192c4">  173</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a093e8dad08a893c76a2657c2c2c192c4">getDistanceFromOrigin</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aea3e40783084111de43e393b05b3c571">distance_from_origin_</a>); }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a04121c694f7170f6ea3f4854a2689db2">  179</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a04121c694f7170f6ea3f4854a2689db2">setEpsDist</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> delta) { <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a277a362585ed9009e06521f81ab77c4e">eps_dist_</a> = delta; }</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a95c3573d1844bc4a370b629d01769ff8">  183</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a95c3573d1844bc4a370b629d01769ff8">getEpsDist</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a277a362585ed9009e06521f81ab77c4e">eps_dist_</a>); }</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      <span class="keyword">inline</span> pcl::SacModel</div>
<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a6d6b9e39d85c4046fffc2d133b16f5cf">  187</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a6d6b9e39d85c4046fffc2d133b16f5cf">getModelType</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (SACMODEL_NORMAL_PARALLEL_PLANE); }</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::sample_size_</a>;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::model_size_</a>;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aa485784ee2a5d0c9f8a4f53a54564a7f">isModelValid</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;   <span class="keyword">private</span>:</div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a71cde334afb34175627bd2e8099377f4">  203</a></span>&#160;      Eigen::Vector4f <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a71cde334afb34175627bd2e8099377f4">axis_</a>;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aea3e40783084111de43e393b05b3c571">  206</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aea3e40783084111de43e393b05b3c571">distance_from_origin_</a>;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a51507054bfcec905fc93de25c0392db2">  209</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a51507054bfcec905fc93de25c0392db2">eps_angle_</a>;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aa259a6a04d35b74090a20f4a918c040d">  212</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aa259a6a04d35b74090a20f4a918c040d">cos_angle_</a>;</div>
<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a277a362585ed9009e06521f81ab77c4e">  214</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a277a362585ed9009e06521f81ab77c4e">eps_dist_</a>;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  };</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;}</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/impl/sac_model_normal_parallel_plane.hpp&gt;</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_from_normals_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_from_normals.html">pcl::SampleConsensusModelFromNormals</a></div><div class="ttdoc">SampleConsensusModelFromNormals represents the base model class for models that require the use of su...</div><div class="ttdef"><b>Definition:</b> sac_model.h:592</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel</a></div><div class="ttdoc">SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...</div><div class="ttdef"><b>Definition:</b> sac_model.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_a64854cad238a0583093c446dc295f245"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">pcl::SampleConsensusModel::sample_size_</a></div><div class="ttdeci">unsigned int sample_size_</div><div class="ttdoc">The size of a sample from which the model is computed. Every subclass should initialize this appropri...</div><div class="ttdef"><b>Definition:</b> sac_model.h:572</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ab10fd6af7c7ab78040d4f638a572943f"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">pcl::SampleConsensusModel::model_name_</a></div><div class="ttdeci">std::string model_name_</div><div class="ttdoc">The model name.</div><div class="ttdef"><b>Definition:</b> sac_model.h:534</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ab7f51bf1c63fcfb05694d0f19c2f7dc3"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">pcl::SampleConsensusModel::model_size_</a></div><div class="ttdeci">unsigned int model_size_</div><div class="ttdoc">The number of coefficients in the model. Every subclass should initialize this appropriately.</div><div class="ttdef"><b>Definition:</b> sac_model.h:575</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html">pcl::SampleConsensusModelNormalParallelPlane</a></div><div class="ttdoc">SampleConsensusModelNormalParallelPlane defines a model for 3D plane segmentation using additional su...</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_a04121c694f7170f6ea3f4854a2689db2"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a04121c694f7170f6ea3f4854a2689db2">pcl::SampleConsensusModelNormalParallelPlane::setEpsDist</a></div><div class="ttdeci">void setEpsDist(const double delta)</div><div class="ttdoc">Set the distance epsilon (delta) threshold.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_a093e8dad08a893c76a2657c2c2c192c4"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a093e8dad08a893c76a2657c2c2c192c4">pcl::SampleConsensusModelNormalParallelPlane::getDistanceFromOrigin</a></div><div class="ttdeci">double getDistanceFromOrigin()</div><div class="ttdoc">Get the distance of the plane from the origin.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_a1a380854465d245c09fe449c7a776a24"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a1a380854465d245c09fe449c7a776a24">pcl::SampleConsensusModelNormalParallelPlane::SampleConsensusModelNormalParallelPlane</a></div><div class="ttdeci">SampleConsensusModelNormalParallelPlane(const PointCloudConstPtr &amp;cloud, bool random=false)</div><div class="ttdoc">Constructor for base SampleConsensusModelNormalParallelPlane.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_a277a362585ed9009e06521f81ab77c4e"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a277a362585ed9009e06521f81ab77c4e">pcl::SampleConsensusModelNormalParallelPlane::eps_dist_</a></div><div class="ttdeci">double eps_dist_</div><div class="ttdoc">The maximum allowed deviation from the template distance from the origin.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:214</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_a3f475da49431d9fc920ade9a023392b7"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a3f475da49431d9fc920ade9a023392b7">pcl::SampleConsensusModelNormalParallelPlane::getAxis</a></div><div class="ttdeci">Eigen::Vector3f getAxis()</div><div class="ttdoc">Get the axis along which we need to search for a plane perpendicular to.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:152</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_a51507054bfcec905fc93de25c0392db2"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a51507054bfcec905fc93de25c0392db2">pcl::SampleConsensusModelNormalParallelPlane::eps_angle_</a></div><div class="ttdeci">double eps_angle_</div><div class="ttdoc">The maximum allowed difference between the plane normal and the given axis.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:209</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_a6a3870bce36a1018cc73ff5cde6719b6"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a6a3870bce36a1018cc73ff5cde6719b6">pcl::SampleConsensusModelNormalParallelPlane::setDistanceFromOrigin</a></div><div class="ttdeci">void setDistanceFromOrigin(const double d)</div><div class="ttdoc">Set the distance we expect the plane to be from the origin</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:169</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_a6d6b9e39d85c4046fffc2d133b16f5cf"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a6d6b9e39d85c4046fffc2d133b16f5cf">pcl::SampleConsensusModelNormalParallelPlane::getModelType</a></div><div class="ttdeci">pcl::SacModel getModelType() const</div><div class="ttdoc">Return an unique id for this model (SACMODEL_NORMAL_PARALLEL_PLANE).</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:187</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_a71cde334afb34175627bd2e8099377f4"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a71cde334afb34175627bd2e8099377f4">pcl::SampleConsensusModelNormalParallelPlane::axis_</a></div><div class="ttdeci">Eigen::Vector4f axis_</div><div class="ttdoc">The axis along which we need to search for a plane perpendicular to.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_a7cd724a6cc535ed16141ddd502967332"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a7cd724a6cc535ed16141ddd502967332">pcl::SampleConsensusModelNormalParallelPlane::~SampleConsensusModelNormalParallelPlane</a></div><div class="ttdeci">virtual ~SampleConsensusModelNormalParallelPlane()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:142</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_a95c3573d1844bc4a370b629d01769ff8"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a95c3573d1844bc4a370b629d01769ff8">pcl::SampleConsensusModelNormalParallelPlane::getEpsDist</a></div><div class="ttdeci">double getEpsDist()</div><div class="ttdoc">Get the distance epsilon (delta) threshold.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:183</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_aa259a6a04d35b74090a20f4a918c040d"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aa259a6a04d35b74090a20f4a918c040d">pcl::SampleConsensusModelNormalParallelPlane::cos_angle_</a></div><div class="ttdeci">double cos_angle_</div><div class="ttdoc">The cosine of the angle</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:212</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_aa485784ee2a5d0c9f8a4f53a54564a7f"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aa485784ee2a5d0c9f8a4f53a54564a7f">pcl::SampleConsensusModelNormalParallelPlane::isModelValid</a></div><div class="ttdeci">virtual bool isModelValid(const Eigen::VectorXf &amp;model_coefficients)</div><div class="ttdoc">Check whether a model is valid given the user constraints.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.hpp:48</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_ab92d881d09ec9cb96fa9658a3540a585"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#ab92d881d09ec9cb96fa9658a3540a585">pcl::SampleConsensusModelNormalParallelPlane::SampleConsensusModelNormalParallelPlane</a></div><div class="ttdeci">SampleConsensusModelNormalParallelPlane(const PointCloudConstPtr &amp;cloud, const std::vector&lt; int &gt; &amp;indices, bool random=false)</div><div class="ttdoc">Constructor for base SampleConsensusModelNormalParallelPlane.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_acaaf6b902abb758b4d62d76846f77075"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#acaaf6b902abb758b4d62d76846f77075">pcl::SampleConsensusModelNormalParallelPlane::setEpsAngle</a></div><div class="ttdeci">void setEpsAngle(const double ea)</div><div class="ttdoc">Set the angle epsilon (delta) threshold.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:159</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_ad05b86f6d1590e555b7da88bfcce5581"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#ad05b86f6d1590e555b7da88bfcce5581">pcl::SampleConsensusModelNormalParallelPlane::getEpsAngle</a></div><div class="ttdeci">double getEpsAngle()</div><div class="ttdoc">Get the angle epsilon (delta) threshold.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:163</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_ae938d8d5fc0c9dcafd55cbc1f39d480a"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#ae938d8d5fc0c9dcafd55cbc1f39d480a">pcl::SampleConsensusModelNormalParallelPlane::setAxis</a></div><div class="ttdeci">void setAxis(const Eigen::Vector3f &amp;ax)</div><div class="ttdoc">Set the axis along which we need to search for a plane perpendicular to.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:148</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_aea3e40783084111de43e393b05b3c571"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aea3e40783084111de43e393b05b3c571">pcl::SampleConsensusModelNormalParallelPlane::distance_from_origin_</a></div><div class="ttdeci">double distance_from_origin_</div><div class="ttdoc">The distance from the template plane to the origin.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:206</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_plane_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_plane.html">pcl::SampleConsensusModelNormalPlane</a></div><div class="ttdoc">SampleConsensusModelNormalPlane defines a model for 3D plane segmentation using additional surface no...</div><div class="ttdef"><b>Definition:</b> sac_model_normal_plane.h:77</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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